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--- embedded_systems:ethercat:ethercatinterface [2019-11-28 06:52] – graf
+++ embedded_systems:ethercat:ethercatinterface [2020-09-21 09:42] (aktuell) – graf
@@ Zeile 67: / Zeile 67: @@
 ===== Adaptions =====
 ==== Overview ====
-The components //EtherCATInterfaceElmo_config//, //getDrivesBlock// and //setDrivesBlock// need to be adjusted, if you change the variables, which are transmitted via PDOs (periodic sent/received messages by the EtherCAT bus).
+The components //EtherCATInterfaceElmo_config//, //getDrivesBlock// and //setDrivesBlock// need to be adjusted whenever you change the variables, which are transmitted via PDOs (periodic sent/received messages by the EtherCAT bus).
 These components must also be adapted when creating a new EEROS application.
+==== Steps ====
+  - Study produced ENI file carefully (use XML viewer). Under <config><processimage><inputs> and <outputs> you find bitsize and offset of all transmitted values.
+  - Adjust headerfile accordingly, negative offset values indicate that the entry is not going to be used.
+  - Make necessary adaptions in //getDrivesBlock// and //setDrivesBlock//.
 ===== Attachment =====
 {{:embedded_systems:ethercat:diagram_ethercatinterface.rar|Class Hierarchy}}

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